Sod harvesters can be configured to stack rolls of sod in unique layers on a pallet. A sod harvester can include control circuitry that is configured to operate a stacking head and a stacking conveyor in a manner that enables the layers to be formed. The structure of the layers can facilitate harvesting wider rolls even when narrower pallets are used to transport the rolls.

Methods are presented which include moving a self-stabilizing platform assembly with product disposed on a deck of the self-stabilizing platform assembly. The self-stabilizing platform assembly includes multiple torque-generating devices, a stability control system to control operation of the multiple torque-generating devices, and the deck to support the product being moved. The methods also include adjusting, by the stability control system, operation of one or more torque-generating devices of the multiple torque-generating devices to produce during the moving a stabilization torque within the self-stabilizing platform assembly to facilitate stabilizing the self-stabilizing platform assembly and product during moving of the self-stabilizing platform assembly and product.

Methods are presented which include moving a self-stabilizing platform assembly with product disposed on a deck of the self-stabilizing platform assembly. The self-stabilizing platform assembly includes multiple torque-generating devices, a stability control system to control operation of the multiple torque-generating devices, and the deck to support the product being moved. The methods also include adjusting, by the stability control system, operation of one or more torque-generating devices of the multiple torque-generating devices to produce during the moving a stabilization torque within the self-stabilizing platform assembly to facilitate stabilizing the self-stabilizing platform assembly and product during moving of the self-stabilizing platform assembly and product.

A method for operating a robotic system includes determining a discretized object model representative of a target object; determining a discretized platform model representative of a task location; determining height measures based on real-time sensor data representative of the task location; and dynamically deriving a placement location based on (1) overlapping the discretized object model and the discretized platform model for stacking objects at the task location and (2) calculating a placement score associated with the overlapping based on the height measures.

A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.

A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.

A load former includes a loading zone, a stacking zone adjacent to the loading zone, a platform in the stacking zone, a first drive configured to raise and to lower the platform, and a cookie sheet having a first portion and a second portion adjacent to the first portion. The cookie sheet is shiftable from a first position in which the first portion of the cookie sheet forms a floor of the loading zone and the second portion of the cookie sheet is not located in the loading zone or in the stacking zone and a second position in which the first portion of the cookie sheet extends directly above the platform in the stacking zone and the second portion of the cookie sheet forms the floor of the loading zone. A second drive shifts the cookie sheet between the first position and the second position.

A load former includes a loading zone, a stacking zone adjacent to the loading zone, a platform in the stacking zone, a first drive configured to raise and to lower the platform, and a cookie sheet having a first portion and a second portion adjacent to the first portion. The cookie sheet is shiftable from a first position in which the first portion of the cookie sheet forms a floor of the loading zone and the second portion of the cookie sheet is not located in the loading zone or in the stacking zone and a second position in which the first portion of the cookie sheet extends directly above the platform in the stacking zone and the second portion of the cookie sheet forms the floor of the loading zone. A second drive shifts the cookie sheet between the first position and the second position.

A method for operating a robotic system includes determining a discretized object model representative of a target object; determining a discretized platform model representative of a task location; determining height measures based on real-time sensor data representative of the task location; and dynamically deriving a placement location based on (1) overlapping the discretized object model and the discretized platform model for stacking objects at the task location and (2) calculating a placement score associated with the overlapping based on the height measures.

A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.